CN107392908B - Crop plant height measuring method and system and field calibration device - Google Patents
Crop plant height measuring method and system and field calibration device Download PDFInfo
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- CN107392908B CN107392908B CN201710428654.8A CN201710428654A CN107392908B CN 107392908 B CN107392908 B CN 107392908B CN 201710428654 A CN201710428654 A CN 201710428654A CN 107392908 B CN107392908 B CN 107392908B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30188—Vegetation; Agriculture
Abstract
The invention provides a crop plant height measuring method and system and a field calibration device, wherein the measuring method comprises the following steps: acquiring point cloud information of a target crop group in a target area; marking planting position information of crops in the point cloud information of the target crop group; dividing the point cloud information of the target crop group according to the planting position information of the crops to obtain each crop cell; determining the mean plant height of each crop cell by using the height information of the field calibration device; and acquiring the crop plant height of the current crop cell according to the plant height average value of the current crop cell. The invention can realize high-precision and high-efficiency continuous monitoring of the plant height of large-area crops by accurately calibrating the target field, thereby accurately measuring the plant height of the crops.
Description
Technical Field
The invention relates to the technical field of agricultural information, in particular to a crop plant height measuring method and system and a field calibration device.
Background
The plant height of the crops is an important index for reflecting the growth vigor of the crops, is also one of the indexes which are easy to obtain in the research of the phenomics of the crops, and has important significance for the research of the breeding of the crops. The plant height of the crops is obviously influenced by factors such as variety, cultivation density, water and fertilizer treatment and the like. However, because of the large crop area in crop breeding and production, continuous observation is needed during the whole growth period of crops, and the measurement of the plant height of crops with high efficiency and high precision is still a problem to be solved urgently in crop production and scientific research.
The prior technical means are as follows: (1) the traditional plant height measurement mainly takes manual measurement as a main part, namely the plant height in a target group is measured and recorded through a ruler, and the method mainly has low measurement efficiency and large manual workload and is difficult to meet the continuous monitoring of the plant height of large-area crops; (2) the remote sensing inversion method comprises the following steps: in order to solve the problem of continuous monitoring of the plant height of large-area crops, researchers obtain remote sensing images through satellite remote sensing or by using an unmanned aerial vehicle and invert the plant height by establishing a mathematical model of the plant height and other indexes, so that the plant height of the large-area crops is continuously monitored, but the method for inverting the plant height through the remote sensing and the spectral model has large errors and cannot meet the accuracy of obtaining the plant height indexes of the crops; (3) the method for extracting the plant height of the crops by using the images comprises the following steps: the plant height of the crop is extracted by the image feature extraction method, so that the precision and the efficiency can be ensured in the aspect of single plant, but the method can not be applied to the plant height measurement of the actual field crop because the side view image of each crop plant needs to be obtained; (4) the measurement method of the unmanned aerial vehicle mounted radar comprises the following steps: by utilizing the unmanned aerial vehicle mounted airborne three-dimensional laser radar, continuous and in-situ monitoring of plant height of large-area crops is realized by acquiring three-dimensional point cloud information of the surface layer of a crop group and carrying out contrastive analysis on the three-dimensional point cloud information and topographic DEM data acquired before the crop is planted, but the measured plant height is improved in precision compared with a remote sensing and spectral inversion method because precise registration of the point cloud of the surface layer of the crop group and the topographic DEM data is difficult to realize in actual operation, but the plant height difference caused by the factors of crop varieties, planting density, water and fertilizer treatment and the like cannot be reflected in precision.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a crop plant height measuring method and system and a field calibration device, which can realize high-precision and high-efficiency continuous monitoring of the plant height of a large-area crop by accurately calibrating a target field, and further accurately measure the plant height of the crop.
In order to solve the technical problems, the invention provides the following technical scheme:
in a first aspect, the present invention provides a method for measuring plant height of a crop, the method comprising:
acquiring point cloud information of a target crop group in a target area;
marking planting position information of crops in the point cloud information of the target crop group;
dividing the point cloud information of the target crop group according to the planting position information of the crops to obtain each crop cell;
determining the mean plant height of each crop cell by using the height information of the field calibration device;
and acquiring the crop plant height of the current crop cell according to the plant height average value of the current crop cell.
Further, the acquiring point cloud information of a target crop group in a target area includes:
arranging a plurality of field calibration devices in a target area, wherein a top plate on each field calibration device is provided with a serial number mark;
and controlling the unmanned aerial vehicle to obtain point cloud information of a target crop group in the target area, wherein the point cloud information of the target crop group comprises point cloud information of the field calibration device.
Further, the setting of a plurality of field calibration devices in the target area includes:
determining the target crop group and a target area where the target crop group is located;
after the growth degree of the target crop group reaches a preset degree, selecting a flat area in the target area;
inserting each field calibration device into soil, wherein the insertion depth is more than or equal to 20 cm;
filling the soil inserted into the field calibration device;
controlling the top plates of the field calibration devices to be horizontally arranged;
and adjusting the height of each field calibration device to ensure that the height of the part of each field calibration device exposed out of the soil is 30-70 cm higher than the target crop group.
Further, the marking of the planting position information of the crops in the point cloud information of the target crop group comprises:
rotating the point cloud information of the target crop group to enable the point cloud information of the target crop group to be parallel to a ground coordinate system;
and extracting point cloud information of each field calibration device from the point cloud information of the target crop group, further identifying the number of the calibration device, and marking the planting position information of the crop according to the arrangement position of each field calibration device.
Further, the determining the mean plant height of each crop cell comprises:
extracting plant height characteristic points of each plant in each crop cell according to the morphological structure characteristics of the crops;
averaging the plant height characteristic point height values of all plants in all the crop cells to obtain the plant height average value of all the crop cells;
and calculating to obtain the horizontal position coordinates of the cell center corresponding to each crop cell.
Further, the obtaining of the plant height of the crop in the current crop cell according to the mean plant height of the current crop cell includes:
searching and obtaining the field calibration device in or near a preset range of the current crop cell according to the horizontal position coordinate of the cell center corresponding to the current crop cell;
and acquiring the crop plant height of the current crop cell based on an interpolation calculation mode according to the number of the field calibration devices in or near the preset range of the current crop cell and the mean value of the plant height of the current crop cell.
In a second aspect, the present invention also provides a crop height measuring system, comprising:
the point cloud information acquisition module of the target crop group is used for acquiring point cloud information of the target crop group in the target area;
the planting position information marking module is used for marking the planting position information of the crops in the point cloud information of the target crop group;
the crop cell division module is used for dividing the point cloud information of the target crop group according to the planting position information of the crops to obtain each crop cell;
the mean plant height determining module is used for determining the mean plant height of each crop cell;
and the crop height determining module is used for obtaining the crop height of the current crop cell according to the mean height of the current crop cell.
In a third aspect, the present invention also provides a field calibration apparatus for crop plant height measurement, the calibration apparatus comprising: the top plate and the supporting frame are vertically arranged with the top plate;
the center of the bottom surface of the top plate is connected with the top end of the support frame, and the top surface of the top plate is provided with a serial number mark;
the bottom of support frame is equipped with the toper contact pin.
Furthermore, the support frame is a telescopic support frame;
the telescopic support frame comprises sleeves which are vertically connected in sequence, and connecting fixing pieces arranged at the joints between every two sleeves, and scale marks are arranged on the telescopic support frame.
Further, the apparatus further comprises: the detachable protective sleeve is matched with the conical contact pin for use, the fixing piece is used for fixing between the top plate and the supporting frame, and the horizontal scaling piece is arranged on the top plate;
the number of the fixing pieces is at least four;
the horizontal calibration piece is arranged at a position close to the top end of the supporting rod.
According to the technical scheme, the crop plant height measuring method and system and the field calibration device provided by the invention comprise the following steps: acquiring point cloud information of a target crop group in a target area; marking planting position information of crops in the point cloud information of the target crop group; dividing the point cloud information of the target crop group according to the planting position information of the crops to obtain each crop cell; determining the mean plant height of each crop cell by using the height information of the field calibration device; acquiring the plant height of the crop in the current crop cell according to the mean plant height of the current crop cell; can realize high-precision and high-efficiency continuous monitoring of the plant height of large-area crops by accurately calibrating the target field, and further accurately measure the plant height of the crops.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for measuring plant height of a crop according to the present invention;
FIG. 2 is a schematic flow chart of step 100 in the method for measuring plant height of crops according to the present invention;
FIG. 3 is a schematic flow chart of step 200 in the method for measuring plant height of crops according to the present invention;
FIG. 4 is a schematic flow chart of step 400 in the method for measuring plant height of crops according to the present invention;
FIG. 5 is a schematic flow chart of step 500 in the method for measuring plant height of crops according to the present invention;
FIG. 6 is a schematic diagram of a crop plant height measuring system according to the present invention;
FIG. 7 is a schematic diagram of one configuration of the field calibration apparatus for crop plant height measurement of the present invention;
FIG. 8 is a schematic view of another configuration of the field calibration apparatus for crop plant height measurement of the present invention;
FIG. 9 is a schematic view of the unmanned aerial vehicle and the field calibration device of the present invention performing field calibration;
FIG. 10 is a schematic view of the placement of the calibration device of the present invention.
Wherein, 1-top plate; 11-foldable chessboard partition boards; 2-a support frame; 21-a sleeve; 22-a fixing member; 23-a telescopic support; 3-marking; 4-tapered pins.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a specific implementation manner of a crop height measurement method, and referring to fig. 1, the crop height measurement specifically comprises the following contents:
step 100: and acquiring point cloud information of a target crop group in the target area.
In the step, the point cloud data is acquired by mounting an airborne radar by using an unmanned aerial vehicle to acquire the point cloud data of the target area.
Step 200: and marking the planting position information of the crops in the point cloud information of the target crop group.
In the step, the acquired crop group point cloud information is rotated to be parallel to a ground coordinate system, the height values of the scaling devices are obviously higher than the top point cloud height value of the crop group due to the arrangement of the placement heights of the scaling devices, the point cloud information of the scaling devices is extracted from the point cloud, and the marking is carried out according to the arrangement positions.
Step 300: and segmenting the point cloud information of the target crop group according to the planting position information of the crops to obtain each crop cell.
In the step, the obtained point cloud information is segmented by using the planting position information of the crops, and each segmented point cloud is a crop cell.
Step 400: and determining the mean plant height of each crop cell by using the height information of the field calibration device.
In the step, the top characteristic points of each plant are extracted from the point clouds of each cell by combining the morphological characteristics of the crops, and the height average value of each characteristic point is calculated.
Step 500: obtaining the crop plant height of the current crop cell according to the mean plant height of the current crop cell
In the step, a calibration device closest to the current cell is searched, and the plant height of the crop in the current cell is calculated through interpolation.
From the above description, the embodiment of the invention obtains the crop group top point cloud with the real height reference, realizes the high-precision, high-efficiency, continuous and in-situ monitoring of the plant height of the large-area crops, and is particularly suitable for the condition that the laser radar can not obtain the ground point cloud information at the later stage of crop growth.
The second embodiment of the present invention provides a specific implementation manner of step 100 in the method for measuring plant height of crop, and referring to fig. 2, the step 100 specifically includes the following steps:
(1) set up a plurality of field calibration devices in the target area, and every all be equipped with the serial number sign on the top plate on the field calibration device, specifically include:
step 101: and determining the target crop group and the target area where the target crop group is located.
Step 102: and selecting a flat area in the target area after the growth degree of the target crop group reaches a preset degree.
Step 103: and inserting each field calibration device into soil, wherein the insertion depth is greater than or equal to 20 cm.
Step 104: and filling the soil inserted into the field calibration device.
Step 105: and controlling the top plate of each field calibration device to be horizontally arranged.
Step 106: and adjusting the height of each field calibration device to ensure that the height of the part of each field calibration device exposed out of the soil is 30-70 cm higher than the target crop group.
Step 107: and controlling the unmanned aerial vehicle to obtain point cloud information of a target crop group in the target area, wherein the point cloud information of the target crop group comprises point cloud information of a field calibration device.
From the above description, it can be seen that the embodiment of the invention combines the modern three-dimensional point cloud acquisition processing technology on the basis of the technology of acquiring the plant height of the crop group by the laser radar mounted on the unmanned aerial vehicle, and acquires the point cloud of the top of the crop group with the real height reference by designing the portable field calibration device, thereby realizing the high-precision, high-efficiency, continuous and in-situ monitoring of the plant height of the crop with large area.
The third embodiment of the present invention provides a specific implementation manner of step 200 in the method for measuring plant height of crop, referring to fig. 3, where step 200 specifically includes the following steps:
step 201: and rotating the point cloud information of the target crop group to enable the point cloud information of the target crop group to be parallel to a ground coordinate system.
Step 202: and extracting point cloud information of each field calibration device from the point cloud information of the target crop group, further identifying the number of the calibration device, and marking the planting position information of the crops according to the arrangement position of each field calibration device.
The fourth embodiment of the present invention provides a specific implementation manner of step 400 in the method for measuring plant height of crop described above, and referring to fig. 4, the step 400 specifically includes the following steps:
step 401: and extracting plant height characteristic points of each plant in each crop cell according to the morphological and structural characteristics of the crop.
Step 402: and averaging the height characteristic points of the plants of each crop plot to obtain the mean height of each crop plot.
Step 403: and calculating to obtain the horizontal position coordinates of the cell center corresponding to each crop cell.
The fifth embodiment of the present invention provides a specific implementation manner of step 500 in the method for measuring plant height of crop described above, and referring to fig. 5, the step 500 specifically includes the following steps:
step 501: and searching and obtaining the field calibration device in or near the preset range of the current crop cell according to the horizontal position coordinate of the cell center corresponding to the current crop cell.
Step 502: and acquiring the crop plant height of the current crop cell based on an interpolation calculation mode according to the number of the field calibration devices in or near the preset range of the current crop cell and the mean value of the plant height of the current crop cell.
From the above description, the embodiments of the present invention develop a device and a method for measuring plant height of crops by combining unmanned aerial vehicle, laser radar, and three-dimensional point cloud processing technologies, aiming at the requirements of crop production and scientific research and breeding on the plant height of crops, so as to realize high-precision, high-efficiency and continuous monitoring of the plant height of large-area crops. The sixth embodiment of the present invention provides a specific implementation manner of a crop height measuring system capable of implementing all the steps in the crop height measuring method, and referring to fig. 6, the crop height measuring system specifically includes the following contents:
and the point cloud information acquisition module 10 is used for acquiring point cloud information of the target crop group in the target area.
And a planting position information marking module 20, configured to mark the planting position information of the crop in the point cloud information of the target crop group.
And the crop cell division module 30 is configured to divide the point cloud information of the target crop group according to the planting position information of the crop to obtain each crop cell.
And the mean plant height determining module 40 is used for determining the mean plant height of each crop cell.
And the crop height determining module 50 is configured to obtain the crop height of the current crop cell according to the mean plant height of the current crop cell.
From the above description, the embodiment of the invention can realize high-precision and high-efficiency continuous monitoring of the plant height of large-area crops by accurately calibrating the target field, and further accurately measure the plant height of the crops.
The seventh embodiment of the present invention provides a specific implementation manner of a field calibration device for measuring plant height of crops, and referring to fig. 7, the device specifically includes the following contents:
the device comprises a top plate 1 and a support frame 2 which is arranged perpendicular to the top plate 1;
in the above description, the center of the bottom surface of the top plate 1 is connected with the top end of the support frame 2, and the top surface of the top plate 1 is provided with the number mark 3; in fig. 7, the number 3 is used as an example of a number label, and a tapered pin 4 is arranged at the bottom end of the support frame 2. The field calibration device is used for acquiring accurate and easily-extracted reference point position information for the laser radar mounted on the unmanned aerial vehicle, and the device is composed of a telescopic rod and a calibration device.
From the above description, the embodiment of the invention can accurately calibrate the target field, has a reliable structure, and can acquire accurate and easily-extracted reference point position information for the laser radar mounted on the unmanned aerial vehicle.
An eighth embodiment of the present invention provides another specific implementation manner of a field calibration apparatus, and referring to fig. 8, the apparatus specifically includes the following contents:
the support frame 2 is a telescopic support frame 23; the telescopic support frame 23 comprises sleeves 21 which are vertically connected in sequence, and connecting fixing pieces 22 arranged at the connecting positions between every two sleeves 21.
And the telescopic support frame 23 is provided with scale marks.
The top plate 1 is a foldable chessboard partition plate 11, and the foldable chessboard partition plate 11 is folded from a bottom plate to a top plate; the center of the bottom plate of the foldable chessboard partition 11 is connected with the top end of the support frame 2.
From the above description, it can be seen that the embodiments of the present invention provide a more portable device for accurately targeting a target field.
An embodiment of the present invention provides another specific implementation manner of a field calibration apparatus, where the apparatus specifically includes the following:
the device also comprises a detachable protective sleeve matched with the conical contact pin 4.
And, the stationary part used for fixing between said top board 1 and supporting arm 2; the number of the fixing pieces is at least four.
The device further comprises a horizontal scaling member; the horizontal calibration piece is arranged at a position close to the top end of the supporting rod.
From the above description, it can be seen that the embodiments of the present invention provide a more fully functional apparatus for accurately calibrating a target field.
For further explaining the scheme, the invention also provides an application example of measuring the plant height of the crops by using the field calibration device, which specifically comprises the following contents:
the field calibration device is used for acquiring accurate and easily-extracted reference point position information for the laser radar mounted on the unmanned aerial vehicle, and the device consists of a telescopic rod and a calibration device and comprises the following characteristics:
(1) the telescopic structure is as follows: the telescopic rod of the device is telescopic, the height of the device can be adjusted according to different crops and different growth periods, and the device can be completely folded at ordinary times and is convenient to carry.
(2) And (3) lightening: the device is convenient to carry in the field, and the whole quality requirement of the device is low.
(3) Inserting: the conical contact pin is arranged at the bottom of the calibration device, so that the calibration device can be conveniently inserted into field soil, and is provided with a soft protective sleeve, the front section of the calibration device is sleeved with the protective sleeve when the calibration device is carried, and people are prevented from being injured in the carrying process.
(4) The calibration device comprises: the chessboard grating has waterproof and foldable functions, can be placed in the field for a long time due to the waterproof, and is convenient to store or carry after being folded when not in use; the length and width requirements of the chessboard after being unfolded are both more than 20 cm.
(5) Stability: the calibration device needs to be inserted into soil by more than 20cm, and the chessboard grids are unfolded and then provided with fixing devices in 4 directions with the supporting rods, so that the device is convenient to place in the field for a long time and has better stability (the influence of wind is reduced); after the supporting rod extends out, a fixing protection device is connected among the connecting units to play a role in stable support.
(6) The method comprises the following steps: scales are arranged on the telescopic rod, so that the height of the supporting device can be conveniently adjusted; thereby the side position at telescopic link top is furnished with the level bubble simultaneously and places the level of guaranteeing scaling device.
(7) Can identify: the checkerboard has the function of identification, and is realized in the form of checkerboard background watermark figures, namely after the checkerboard is unfolded, the serial number of the checkerboard can be identified in the image shot by the unmanned aerial vehicle.
From the above description, the device in the application example of the invention can accurately calibrate the target field, has a reliable structure, and can acquire accurate and easily-extracted reference point position information for the laser radar mounted on the unmanned aerial vehicle.
Referring to the position relationship between the unmanned aerial vehicle and the field calibration device for field calibration in fig. 9, the specific process of field calibration includes:
(1) placing time of the field calibration device: after a target crop group to be measured is determined, the portable field calibration device can be placed in the field after seeding is completed, and the unmanned aerial vehicle mounted laser radar can be used for acquiring top three-dimensional point cloud data of the target group at any time in the full growth period of crop growth; the portable field calibration device can also be installed after the crops grow for a certain period.
(2) Placing the field calibration device: uniformly placing all calibration devices in a crop growth area to be measured; see fig. 10, in which the black line area is the crop growth area to be measured (in the premise that the measurer has only 6 calibration devices) so that each calibration device covers the area to be measured as much as possible.
(3) The placing method comprises the following steps: selecting a relatively flat area in a crop growing area, inserting the conical insertion pin of the calibration device into soil for at least 20cm, treading the soil to ensure the stability of the soil, unfolding the checkerboard plates to ensure the level of the checkerboard plates, and adjusting the telescopic support rod to ensure that the height of each checkerboard plate is H, wherein the selection requirement of H is higher than about 50cm of the plant height of a crop measurement period (for example, the plant height of a certain cell of corn to be measured is estimated, and the highest plant height of the corn in the area is estimated to be about 3m, and the height of each calibration device is set to be 3.5 m).
From the above description, the application example of the invention can accurately calibrate the target field, the structure of the device is reliable, and the accurate and easily-extracted reference point position information can be acquired for the laser radar mounted on the unmanned aerial vehicle.
The specific process of measuring the plant height of the crops by applying the field calibration device comprises the following steps:
(1) point cloud extraction of a calibration device: the obtained crop group point cloud information is rotated to be parallel to a ground coordinate system, due to the arrangement of the placement height of each scaling device, the height value of each scaling device is obviously higher than the top point cloud height value of the crop group, the point cloud information of each scaling device is extracted from the point cloud, the point cloud information is marked according to each arrangement position, and the position coordinates of the center point of the ith scaling device are marked as (xi, yi, Hi), wherein Hi is the height value of the ith scaling device extracted by utilizing the point cloud.
(2) Crop group point cloud segmentation: and dividing the acquired point cloud information by using the planting position information of the crops, wherein each divided point cloud is a crop cell.
(3) Extracting the characteristic points of the plant height of the residential area: and (3) extracting top characteristic points of each plant from the point clouds of each cell by combining morphological characteristics of crops, calculating the height average value of each characteristic point, setting the current cell number as k, recording the extracted height average value as hk, and calculating the coordinates (xk, yk) of the center horizontal position of the cell.
(4) Calculating the plant height: searching a calibration device closest to the current cell, and calculating the plant height of the crop in the current cell by interpolation:
wherein the content of the first and second substances,
the real plant height value of the crop cell to be measured is shown, n is the number of the calibration devices, and lambdaiIs the weight coefficient:
from the above description, the application example of the invention is designed by the portable field calibration device, the device has the characteristics of extension, light weight, insertion, strong stability and scale and mark, and the calibration checkerboard has the functions of water resistance and folding; compared with the complexity of crop groups, the portable field calibration device has the characteristic of good smoothness, can extract the heights of all the arranged points from the crop group point cloud acquired by the radar on the unmanned aerial vehicle, and can accurately calculate the plant height of each group to be measured by using the height difference between the crop group top point cloud and the calibration device because the heights of the calibration device points are known. Therefore, on the basis of the technology of acquiring the plant height of the crop group by the unmanned aerial vehicle mounted laser radar, the invention combines the modern three-dimensional point cloud acquisition processing technology, and acquires the top point cloud of the crop group with real height reference by designing the portable field calibration device, thereby realizing high-precision, high-efficiency, continuous and in-situ monitoring of the plant height of the large-area crop. The method is particularly suitable for the condition that the laser radar cannot acquire ground point cloud information at the later stage of crop growth.
The above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A crop plant height measuring method is characterized by comprising the following steps:
acquiring point cloud information of a target crop group in a target area;
marking planting position information of crops in the point cloud information of the target crop group;
dividing the point cloud information of the target crop group according to the planting position information of the crops to obtain each crop cell;
determining the mean plant height of each crop cell by using the height information of the field calibration device;
acquiring the plant height of the crop in the current crop cell according to the mean plant height of the current crop cell;
the acquiring of the point cloud information of the target crop group in the target area comprises the following steps:
arranging a plurality of field calibration devices in a target area, wherein a top plate on each field calibration device is provided with a serial number mark;
controlling the unmanned aerial vehicle to obtain point cloud information of a target crop group in a target area, wherein the point cloud information of the target crop group comprises point cloud information of a field calibration device;
wherein, the step of obtaining the crop plant height of the current crop cell according to the mean plant height of the current crop cell comprises the following steps:
searching and obtaining the field calibration device in or near a preset range of the current crop cell according to the horizontal position coordinate of the cell center corresponding to the current crop cell;
acquiring the crop plant height of the current crop cell based on an interpolation calculation mode according to the number of the field calibration devices in or near the preset range of the current crop cell and the plant height average value of the current crop cell;
the method for obtaining the crop plant height of the current crop cell based on interpolation calculation according to the number of the field calibration devices in or near the preset range of the current crop cell and the mean value of the plant height of the current crop cell specifically comprises the following steps:
calculating the crop height of the current crop cell by interpolation:
wherein the content of the first and second substances,
the real plant height value of the current crop cell is represented, n is the number of the field calibration devices in or near the preset range of the current crop cell, liIs the weight coefficient:
wherein H represents the uniform height of n field calibration device settings, HkRepresenting the mean plant height of the current crop cell, (x)k，yk) Represents the center horizontal position coordinate of the current crop cell, (x)i，yi，Hi) Represents the position coordinates of the center point of the ith field calibration device, wherein HiThe height value of the ith field calibration unit is shown.
2. The method of claim 1, wherein said positioning a plurality of field targeting devices at a target area comprises:
determining the target crop group and a target area where the target crop group is located;
after the growth degree of the target crop group reaches a preset degree, selecting a flat area in the target area;
inserting each field calibration device into soil, wherein the insertion depth is more than or equal to 20 cm;
filling the soil inserted into the field calibration device;
controlling the top plates of the field calibration devices to be horizontally arranged;
and adjusting the height of each field calibration device to ensure that the height of the part of each field calibration device exposed out of the soil is 30-70 cm higher than the target crop group.
3. The method of claim 1, wherein the marking of crop planting location information in the point cloud information of the target crop population comprises:
rotating the point cloud information of the target crop group to enable the point cloud information of the target crop group to be parallel to a ground coordinate system;
and extracting point cloud information of each field calibration device from the point cloud information of the target crop group, further identifying the number of the calibration device, and marking the planting position information of the crop according to the arrangement position of each field calibration device.
4. The method of claim 1, wherein said determining the mean plant height for each of said crop cells comprises:
extracting plant height characteristic points of each plant in each crop cell according to the morphological structure characteristics of the crops;
averaging the plant height characteristic point height values of all plants in all the crop cells to obtain the plant height average value of all the crop cells;
and calculating to obtain the horizontal position coordinates of the cell center corresponding to each crop cell.
5. A crop plant height measurement system, comprising:
the point cloud information acquisition module of the target crop group is used for acquiring point cloud information of the target crop group in the target area;
the planting position information marking module is used for marking the planting position information of the crops in the point cloud information of the target crop group;
the crop cell division module is used for dividing the point cloud information of the target crop group according to the planting position information of the crops to obtain each crop cell;
the mean plant height determining module is used for determining the mean plant height of each crop cell;
the crop height determining module is used for obtaining the crop height of the current crop cell according to the mean height of the current crop cell;
the point cloud information acquisition module of the target crop group is specifically used for:
arranging a plurality of field calibration devices in a target area, wherein a top plate on each field calibration device is provided with a serial number mark;
controlling the unmanned aerial vehicle to obtain point cloud information of a target crop group in a target area, wherein the point cloud information of the target crop group comprises point cloud information of a field calibration device;
the crop plant height determining module is specifically configured to, when obtaining the crop plant height of the current crop cell according to the plant height average value of the current crop cell:
searching and obtaining the field calibration device in or near a preset range of the current crop cell according to the horizontal position coordinate of the cell center corresponding to the current crop cell;
acquiring the crop plant height of the current crop cell based on an interpolation calculation mode according to the number of the field calibration devices in or near the preset range of the current crop cell and the plant height average value of the current crop cell;
the method for obtaining the crop plant height of the current crop cell based on interpolation calculation according to the number of the field calibration devices in or near the preset range of the current crop cell and the mean value of the plant height of the current crop cell specifically comprises the following steps:
calculating the crop height of the current crop cell by interpolation:
wherein the content of the first and second substances,
the real plant height value of the current crop cell is represented, n is the number of the field calibration devices in or near the preset range of the current crop cell, liIs the weight coefficient:
wherein H represents the uniform height of n field calibration device settings, HkRepresenting the mean plant height of the current crop cell, (x)k，yk) Represents the center horizontal position coordinate of the current crop cell, (x)i，yi，Hi) Represents the position coordinates of the center point of the ith field calibration device, wherein HiThe height value of the ith field calibration unit is shown.
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| CN109827503B (en) * | 2018-12-29 | 2020-09-08 | 北京农业信息技术研究中心 | Method and device for accurately positioning field crops |
| CN110455201B (en) * | 2019-08-13 | 2020-11-03 | 东南大学 | Stalk crop height measuring method based on machine vision |
| CN111707783A (en) * | 2020-05-12 | 2020-09-25 | 五邑大学 | Crop growth monitoring method and device and storage medium |
| CN112036407B (en) * | 2020-07-30 | 2024-02-06 | 北京农业信息技术研究中心 | Plant population three-dimensional phenotype in-situ acquisition method and device |
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